A gantry crane and method based on multi-sensor track monitoring

Abstract

This invention discloses a gantry crane and method based on multi-sensor alignment. Corresponding first and second magnetic induction mechanisms are installed on a first gantry crane and a second gantry crane, respectively. A control mechanism controls the first and second gantry cranes to move towards each other. As the first and second gantry cranes gradually approach each other, the first magnetic sensor on the first gantry crane sequentially senses the deceleration sensor and the alignment sensor on the second gantry crane. Simultaneously, the second magnetic sensor on the second gantry crane synchronously senses the deceleration sensor and the alignment sensor on the first gantry crane, transmitting deceleration and alignment signals to the control mechanism. This allows the control mechanism to gradually decelerate the first and second gantry cranes before stopping, achieving precise alignment of the first and second gantry cranes, minimizing alignment errors, and improving alignment accuracy. Furthermore, the first and second gantry cranes generate magnetic induction signals during movement to control their movement, thereby improving alignment efficiency.

Description

Technical Field

[0001] This invention relates to the field of construction equipment technology, specifically to a gantry crane and method for aligning tracks with multiple sensors. Background Technology

[0002] Construction robots move along gantry crane tracks. In order for the construction robot to cover the entire construction area, it needs to cross two adjacent gantry crane tracks. Therefore, the two adjacent gantry crane tracks need to be aligned quickly to ensure the efficiency of the construction robot's movement and thus improve the construction efficiency.

[0003] Currently, three common methods for aligning gantry crane tracks are manual alignment, laser alignment, and magnetic alignment. Manual alignment involves operators observing the positions of two gantry crane tracks and manipulating them to align. This method is highly dependent on the operator's experience, resulting in low alignment accuracy and efficiency. Laser alignment uses laser sensors placed on adjacent gantry crane tracks to achieve non-contact, long-distance measurement of the alignment position. While this improves alignment accuracy, it is costly. Magnetic alignment involves placing magnetic sensors on adjacent gantry crane tracks to determine the alignment position through magnetic signals. Although this method reduces costs, its alignment accuracy cannot meet the alignment requirements of construction robot systems for gantry crane tracks.

[0004] Therefore, how to effectively improve the alignment accuracy and efficiency of gantry rails while reducing costs has become an urgent problem to be solved in this field. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a gantry crane and method for rapid and high-precision track alignment based on multiple sensors.

[0006] To achieve the above objectives, the present invention provides a multi-sensor track-aligned gantry crane, comprising at least two parallel first and second tracks, a first gantry crane and a second gantry crane respectively mounted on the first and second tracks, and a control mechanism connected to the first and second gantry cranes and configured to control the movement state of the first and second gantry cranes.

[0007] The first and second gantry cranes are respectively equipped with corresponding first and second magnetic induction mechanisms. The first magnetic induction mechanism includes a first induction plate assembly and a first magnetic sensor arranged in an alternating manner and respectively disposed at a first height and a second height. The second magnetic induction mechanism includes a second induction plate assembly and a second magnetic sensor arranged in an alternating manner and respectively disposed at a second height and a first height.

[0008] The first magnetic induction mechanism and the second magnetic induction mechanism are configured such that when the first gantry and the second gantry move toward each other, the first magnetic sensor sequentially senses the deceleration sensing plate and the rail alignment sensing plate in the second sensing plate assembly, and transmits the corresponding deceleration magnetic induction signal and rail alignment magnetic induction signal to the control mechanism. At the same time, the second magnetic sensor synchronously senses the deceleration sensing plate and the rail alignment sensing plate in the first sensing plate assembly, and transmits the deceleration magnetic induction signal and rail alignment magnetic induction signal to the control mechanism, so that the control mechanism can control the movement state of the first gantry and the second gantry according to the corresponding magnetic induction signals.

[0009] Furthermore, the first magnetic induction mechanism is disposed on the first side adjacent to the first gantry and the second gantry, and the second magnetic induction mechanism is disposed on the second side adjacent to the first gantry.

[0010] Furthermore, the first sensor assembly and the second sensor assembly are respectively disposed on the first side and the second side in symmetrical positions, but at different heights. The first sensor assembly is disposed at a first height, and the second sensor assembly is disposed at a second height.

[0011] Furthermore, the first magnetic sensor and the second magnetic sensor are respectively positioned symmetrically on the first side and the second side, but at different heights. The first magnetic sensor is positioned at the second height, and the second magnetic sensor is positioned at the first height.

[0012] Furthermore, the first sensing plate assembly includes a first track alignment sensing plate and a first deceleration sensing plate and a second deceleration sensing plate disposed on both sides of the first track alignment sensing plate and spaced apart from the first track alignment sensing plate.

[0013] Furthermore, the distance between the first deceleration sensor and the first alignment sensor is smaller than the distance between the first alignment sensor and the second deceleration sensor, and the first magnetic sensor is disposed between the first alignment sensor and the second deceleration sensor.

[0014] Furthermore, the second sensor assembly includes a second track-aligning sensor and a third and a fourth deceleration sensor disposed on both sides of the second track-aligning sensor and spaced apart from the second track-aligning sensor.

[0015] Furthermore, the distance between the third deceleration sensor and the second rail-aligning sensor is smaller than the distance between the second rail-aligning sensor and the fourth deceleration sensor, and the second magnetic sensor is disposed between the second rail-aligning sensor and the fourth deceleration sensor.

[0016] To achieve the above objectives, the present invention provides a multi-sensor-based rail alignment method, which employs the aforementioned multi-sensor-based rail alignment gantry crane. The rail alignment method includes:

[0017] When the first gantry crane is in the first position and the second gantry crane is in the second position, the control mechanism controls the first gantry crane to move in the first direction on the first track, and simultaneously controls the second gantry crane to move in the second direction on the second track, so that the first gantry crane and the second gantry crane move towards each other and gradually approach each other.

[0018] When the first magnetic sensor on the first gantry crane approaches and senses the third deceleration sensor on the second gantry crane, the first magnetic sensor transmits a deceleration magnetic induction signal to the control mechanism. Simultaneously, the second magnetic sensor on the second gantry crane approaches and senses the second deceleration sensor on the first gantry crane, and transmits a deceleration magnetic induction signal to the control mechanism.

[0019] The control mechanism receives deceleration magnetic induction signals from the first magnetic sensor and the second magnetic sensor respectively, and synchronously controls the first gantry crane and the second gantry crane to begin deceleration and continuous movement towards each other.

[0020] When the first magnetic sensor on the first gantry crane approaches and senses the second rail alignment sensor on the second gantry crane, the first magnetic sensor transmits a rail alignment magnetic induction signal to the control mechanism. Simultaneously, the second magnetic sensor on the second gantry crane approaches and senses the first rail alignment sensor on the first gantry crane, and transmits a rail alignment magnetic induction signal to the control mechanism.

[0021] The control mechanism receives the alignment magnetic induction signals from the first magnetic sensor and the second magnetic sensor respectively, and synchronously controls the first gantry and the second gantry to stop moving so that the first gantry and the second gantry are aligned.

[0022] Furthermore, the alignment method also includes:

[0023] When the first gantry crane is in the third position and the second gantry crane is in the fourth position, the control mechanism controls the first gantry crane to move in the second direction on the first track, while simultaneously controlling the second gantry crane to move in the first direction on the second track, so that the first and second gantry cranes move towards each other and gradually approach each other.

[0024] When the first magnetic sensor on the first gantry crane approaches and senses the fourth deceleration sensor on the second gantry crane, the first magnetic sensor transmits a deceleration magnetic induction signal to the control mechanism. Simultaneously, the second magnetic sensor on the second gantry crane approaches and senses the first deceleration sensor on the first gantry crane, and transmits a deceleration magnetic induction signal to the control mechanism.

[0025] The control mechanism receives deceleration magnetic induction signals from the first magnetic sensor and the second magnetic sensor respectively, and synchronously controls the first gantry crane and the second gantry crane to begin deceleration and continuous movement towards each other.

[0026] When the first magnetic sensor on the first gantry crane approaches and senses the second rail alignment sensor on the second gantry crane, the first magnetic sensor transmits a rail alignment magnetic induction signal to the control mechanism. Simultaneously, the second magnetic sensor on the second gantry crane approaches and senses the first rail alignment sensor on the first gantry crane, and transmits a rail alignment magnetic induction signal to the control mechanism.

[0027] The control mechanism receives the alignment magnetic induction signals from the first magnetic sensor and the second magnetic sensor respectively, and synchronously controls the first gantry and the second gantry to stop moving so that the first gantry and the second gantry are aligned.

[0028] The present invention provides a multi-sensor-based gantry crane and method for alignment, wherein corresponding first and second magnetic induction mechanisms are respectively set on a first gantry crane and a second gantry crane. A control mechanism controls the first and second gantry cranes to move towards each other, so that as the first and second gantry cranes gradually approach each other, the first magnetic sensor on the first gantry crane can sequentially sense the deceleration sensor and the alignment sensor on the second gantry crane. At the same time, the second magnetic sensor on the second gantry crane can synchronously sense the deceleration sensor and the alignment sensor on the first gantry crane, and transmit deceleration signals and alignment signals to the control mechanism. This allows the control mechanism to control the first and second gantry cranes to gradually decelerate and then stop moving, thereby achieving precise alignment of the first and second gantry cranes, reducing the likelihood of alignment errors, and improving alignment accuracy. In addition, the first and second gantry cranes can generate magnetic induction signals to control their movement state during the movement, thereby improving alignment efficiency. Attached Figure Description

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] Figure 1 This is a schematic diagram of the overall structure of the gantry crane based on multi-sensor rail alignment provided by the present invention.

[0031] Figure 2 for Figure 1 A magnified view of a portion of the image;

[0032] Figure 3 This is a schematic diagram of the structure of the first gantry crane in this invention;

[0033] Figure 4 This is a schematic diagram of the structure of the second gantry in this invention;

[0034] Figure 5 This is a schematic diagram illustrating the movement of the first and second gantry cranes in this invention;

[0035] Figure 6 for Figure 5 A magnified view of a portion of the image;

[0036] Figure 7 This is a schematic diagram illustrating the movement of the first and second gantry cranes in this invention.

[0037] Figure 8 for Figure 7 A magnified view of a portion of the image;

[0038] Figure 9 This is a flowchart of the multi-sensor-based track alignment method provided by the present invention;

[0039] Figure label:

[0040] 1. First track; 2. Second track; 3. First gantry; 31. First side; 4. Second gantry; 41. Second side;

[0041] 5. First magnetic induction mechanism; 51. First induction plate assembly; 511. First alignment induction plate; 512. First deceleration induction plate; 513. Second deceleration induction plate; 52. First magnetic sensor;

[0042] 6. Second magnetic induction mechanism; 61. Second induction plate assembly; 611. Second alignment induction plate; 612. Third deceleration induction plate; 613. Fourth deceleration induction plate; 52. Second magnetic sensor;

[0043] 71. First altitude; 72. Second altitude; 73. First direction; 74. Second direction; 8. Control mechanism. Detailed Implementation

[0044] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0045] See Figure 1 and Figure 2 The image shows an example of a gantry crane based on multi-sensor track monitoring provided by the present invention.

[0046] As shown in the figure, the multi-sensor track-aligned gantry in this example includes at least two parallel first tracks 1 and second tracks 2, as well as a first gantry 3 and a second gantry 4 that move on the first track 1 and the second track 2 respectively. It also includes a control mechanism 8, which is connected to the first gantry 3 and the second gantry 4 and configured to control the movement state of the first gantry 3 and the second gantry 4.

[0047] Among them, combined Figures 2 to 4The first gantry 3 and the second gantry 4 are respectively provided with corresponding first magnetic induction mechanism 5 and second magnetic induction mechanism 6. The first magnetic induction mechanism 5 includes a first induction plate assembly 51 and a first magnetic sensor 52 arranged alternately and respectively disposed at a first height 71 and a second height 72. The second magnetic induction mechanism 6 includes a second induction plate assembly 61 and a second magnetic sensor 62 arranged alternately and respectively disposed at a second height 72 and a first height 71, so that the first induction plate assembly 51 on the first gantry 3 corresponds to the second magnetic sensor 62 on the second gantry 4, and the first magnetic sensor 52 on the first gantry 3 corresponds to the second induction plate assembly 61 on the second gantry 4.

[0048] Furthermore, the first magnetic induction mechanism 5 and the second magnetic induction mechanism 6 are configured such that when the first gantry crane 3 and the second gantry crane 4 move toward each other, the first magnetic sensor 52 sequentially senses the deceleration sensing plate and the alignment sensing plate in the second sensing plate assembly 61, and transmits the corresponding deceleration magnetic induction signal and alignment magnetic induction signal to the control mechanism 8. At the same time, the second magnetic sensor 62 synchronously senses the deceleration sensing plate and the alignment sensing plate in the first sensing plate assembly 51, and transmits the deceleration magnetic induction signal and alignment magnetic induction signal to the control mechanism 8. This allows the control mechanism 8 to control the movement state of the first gantry crane 3 and the second gantry crane 4 according to the corresponding magnetic induction signals. As the first gantry crane 3 and the second gantry crane 4 move toward each other and gradually approach each other, they first decelerate and then gradually stop, ensuring that the first gantry crane 3 and the second gantry crane 4 can be accurately aligned and improving the alignment efficiency.

[0049] Specifically, in combination Figure 3 The first magnetic induction mechanism 5 is disposed on the first side 31 adjacent to the first gantry 3 and the second gantry 4. The first induction plate assembly 51 and the first magnetic sensor 52 in the first magnetic induction mechanism 5 are arranged alternately, and the first induction plate assembly 51 is disposed at the first height 71, and the first magnetic sensor 52 is disposed at the second height 72, so that the first magnetic induction mechanism 5 and the second magnetic induction mechanism 6 are correspondingly disposed and can sense each other.

[0050] In conjunction with this, Figure 4The second magnetic induction mechanism 6 is disposed on the second side 41 adjacent to the first gantry 3 of the second gantry 4. The second induction plate assembly 61 and the second magnetic sensor 62 in the second magnetic induction mechanism 6 are arranged alternately, and the second induction plate assembly 61 is disposed at the second height 72, and the second magnetic sensor 62 is disposed at the first height 71, so that the positions of the first induction plate assembly 51 and the second induction plate assembly 61 on the first side 31 and the second side 41 are symmetrical, but the heights are different. The positions of the first magnetic sensor 52 and the second magnetic sensor 62 on the first side 31 and the second side 41 are symmetrical, but the heights are different. Furthermore, the first induction plate assembly 51 and the second magnetic sensor 62 are both disposed at the first height, and the second induction plate assembly 61 and the first magnetic sensor 52 are both disposed at the second height.

[0051] Therefore, as the first gantry 3 and the second gantry 4 gradually approach each other, the first magnetic sensor 52 on the first gantry 3 can approach and sense the second sensing plate assembly 61 on the second gantry 4, and generate a magnetic induction signal that is transmitted to the control mechanism 8. At the same time, the second magnetic sensor 62 on the second gantry 4 can synchronously approach and sense the first sensing plate assembly 51 on the first gantry 3, and generate a magnetic induction signal that is transmitted to the control mechanism 8, so that the first magnetic induction mechanism 5 and the second magnetic induction mechanism 6 corresponding to the first gantry 3 and the second gantry 4 can synchronously transmit magnetic induction signals. The control mechanism 8 can control the movement state of the first gantry 3 and the second gantry 4 according to the magnetic induction signal, thereby ensuring the alignment accuracy of the first gantry 3 and the second gantry 4.

[0052] In order for the first magnetic induction mechanism 5 and the second magnetic induction mechanism 6 to transmit corresponding magnetic induction signals to the control mechanism 8 according to the movement state of the first gantry crane 3 and the second gantry crane 4, so that the control mechanism 8 can accurately control the movement state of the first gantry crane 3 and the second gantry crane 4, the first induction plate assembly 51 and the second induction plate assembly 61 both include a deceleration induction plate and a rail alignment induction plate, so that the first magnetic sensor 52 and the second magnetic sensor 62 can approach and sense the deceleration induction plate and the rail alignment induction plate, generating corresponding deceleration magnetic induction signals and rail alignment magnetic induction signals, thereby enabling the control mechanism 8 to control the first gantry crane 3 and the second gantry crane 4 to decelerate or stop moving according to the corresponding magnetic induction signals.

[0053] Specifically, the first sensing plate assembly 51 in the first magnetic induction mechanism 5 mainly includes a first alignment sensing plate 511 and a first deceleration sensing plate 512 and a second deceleration sensing plate 513 disposed on both sides of the first alignment sensing plate 511 and spaced apart from the first alignment sensing plate 511. Further, the distance between the first deceleration sensing plate 512 and the first alignment sensing plate 511 is smaller than the distance between the first alignment sensing plate 511 and the second deceleration sensing plate 513. The first magnetic sensor 52 is disposed between the first alignment sensing plate 511 and the second deceleration sensing plate 513.

[0054] Correspondingly, the second sensing plate assembly 61 in the second magnetic induction mechanism 6 mainly includes a second alignment sensing plate 611 and a third deceleration sensing plate 612 and a fourth deceleration sensing plate 613 disposed on both sides of the second alignment sensing plate 611 and spaced apart from the second alignment sensing plate 611. Further, the distance between the third deceleration sensing plate 612 and the second alignment sensing plate 611 is smaller than the distance between the second alignment sensing plate 611 and the fourth deceleration sensing plate 613. The second magnetic sensor 62 is disposed between the second alignment sensing plate 611 and the fourth deceleration sensing plate 613.

[0055] Here, the specific arrangement spacing of the first sensing component 51 and the first magnetic sensor 52 in the first magnetic induction mechanism 5, and the specific arrangement spacing of the second sensing plate component 61 and the second magnetic sensor 62 in the second magnetic induction mechanism 6 are not limited. It is necessary to ensure that there is sufficient spacing between each sensing plate and magnetic sensor to adapt to the alignment of the first magnetic sensor 52 in the first magnetic induction mechanism 5 with the second alignment sensing plate 611 in the second magnetic induction mechanism 6 after the first gantry 3 and the second gantry 4 gradually approach and stop. At the same time, the second magnetic sensor 62 in the second magnetic induction mechanism 6 is aligned with the first alignment sensing plate 511 in the first magnetic induction mechanism 5, so as to ensure the alignment accuracy of the first gantry 3 and the second gantry 4.

[0056] Therefore, combined Figure 1 and Figure 2 , Figures 5 to 8 As the first gantry 3 and the second gantry 4 move toward each other and gradually approach each other, the first magnetic sensor 52 in the first gantry 3 can first approach and sense the third deceleration sensor 612 or the fourth deceleration sensor 613 located at both ends of the second gantry 4, and transmit a deceleration magnetic sensing signal to the control mechanism 8. At the same time, the second magnetic sensor 62 in the second gantry 4 can synchronously approach and sense the first deceleration sensor 512 or the second deceleration sensor 513 located at both ends of the first gantry 3, and transmit a deceleration magnetic sensing signal to the control mechanism 8, so that the control mechanism 8 can synchronously control the first gantry 3 and the second gantry 4 to decelerate and move in preparation for alignment according to the deceleration magnetic sensing signals transmitted by the first magnetic sensor 52 and the second magnetic sensor 62.

[0057] Furthermore, the first gantry crane 3 and the second gantry crane 4 continuously decelerate and move towards each other, gradually aligning themselves, as... Figure 1 and Figure 2The first magnetic sensor 52 in the first gantry 3 can approach and sense the second alignment sensor 611 located in the middle region of the second gantry 4, and transmit the alignment magnetic sensing signal to the control mechanism 8. At the same time, the second magnetic sensor 62 in the second gantry 4 can approach and sense the first alignment sensor 511 located in the middle region of the first gantry 3, and transmit the alignment magnetic sensing signal to the control mechanism 8. This allows the control mechanism 8 to synchronously control the first gantry 3 and the second gantry 4 to stop moving according to the alignment magnetic sensing signals transmitted by the first magnetic sensor 52 and the second magnetic sensor 62, thereby ensuring accurate alignment of the first gantry 3 and the second gantry 4. By generating different magnetic induction signals during the process of the first gantry 3 and the second gantry 4 moving towards each other, the first gantry 3 and the second gantry 4 can be controlled to decelerate and then stop moving to align, which can improve the alignment efficiency and ensure the alignment accuracy.

[0058] In order for the control mechanism 8 to receive and distinguish the deceleration magnetic sensing signal and the rail magnetic induction signal transmitted from the first magnetic sensor 52 and the second magnetic sensor 62, so as to control the corresponding movement state of the first gantry 3 and the second gantry 4, the control mechanism 8 is configured to distinguish the received magnetic induction signal by means of counting control.

[0059] For example, when the first magnetic sensor 52 and the second magnetic sensor 62 first approach and sense the deceleration sensing plates at both ends of the first gantry 3 and the second gantry 4, they transmit a magnetic induction signal to the control mechanism 8 for the first time. At this time, the control mechanism 8 receives the magnetic induction signal for the first time and defines the first received magnetic induction signal as a deceleration magnetic induction signal, and controls the first gantry 3 and the second gantry 4 to decelerate and move in preparation for alignment.

[0060] Furthermore, when the first magnetic sensor 52 and the second magnetic sensor 62 continuously decelerate and move closer to and sense the rail-aligning sensor plate located in the middle of the first gantry 3 and the second gantry 4, they transmit a magnetic induction signal to the control mechanism 8 again. At this time, the control mechanism 8 receives the magnetic induction signal for the second time and defines the second received magnetic induction signal as the rail-aligning magnetic induction signal, and controls the first gantry 3 and the second gantry 4 to stop moving.

[0061] Therefore, the control mechanism 8 identifies the received magnetic induction signal by counting and controls the movement state of the first gantry 3 and the second gantry 4 accordingly.

[0062] This invention also provides a method for track alignment based on multiple sensors, employing a gantry crane based on multiple sensors constructed using the above-described scheme, combined with... Figure 9 The alignment methods include:

[0063] See Figure 5When the first gantry 3 is in the first position and the second gantry 4 is in the second position, the control mechanism 8 controls the first gantry 3 to move in the first direction 73 on the first track 1, and at the same time controls the second gantry 4 to move in the second direction 74 on the second track 2, so that the first gantry 3 and the second gantry 4 move towards each other and gradually approach each other.

[0064] Therefore, the second deceleration sensor 513 on the first gantry crane 3 will approach the second gantry crane 4 first, and correspondingly, the third deceleration sensor 612 on the second gantry crane 4 will approach the first gantry crane 3 first.

[0065] Further, see Figure 6 As the first gantry 3 and the second gantry 4 gradually approach each other, when the first magnetic sensor 52 on the first gantry 3 approaches and senses the third deceleration sensor 613 on the second gantry 4, the first magnetic sensor 52 transmits a deceleration magnetic induction signal to the control mechanism 8. At the same time, the second magnetic sensor 62 on the second gantry 4 synchronously approaches and senses the second deceleration sensor 513 on the first gantry 3, and transmits a deceleration magnetic induction signal to the control mechanism 8.

[0066] Next, the control mechanism 8 receives deceleration magnetic induction signals from the first magnetic sensor 52 and the second magnetic sensor 62 respectively, and synchronously controls the first gantry 3 and the second gantry 4 to start decelerating and moving towards each other in preparation for alignment.

[0067] Further, see Figure 1 and Figure 2 As the first gantry 3 and the second gantry 4 decelerate and gradually approach each other, when the first magnetic sensor 52 on the first gantry 3 approaches and senses the second rail-aligning sensor 611 on the second gantry 4, the first magnetic sensor 52 transmits a rail-aligning magnetic induction signal to the control mechanism 8. At the same time, the second magnetic sensor 62 on the second gantry 4 synchronously approaches and senses the first rail-aligning sensor 511 on the first gantry 3, and transmits a rail-aligning magnetic induction signal to the control mechanism 8.

[0068] Next, the control mechanism 8 receives the track magnetic induction signals from the first magnetic sensor 52 and the second magnetic sensor 62 respectively, and synchronously controls the first gantry 3 and the second gantry 4 to stop moving so that the first gantry 3 and the second gantry 4 are aligned.

[0069] Furthermore, alignment methods also include:

[0070] See Figure 7 When the first gantry 3 is in the third position and the second gantry 4 is in the fourth position, the control mechanism 8 controls the first gantry 3 to move in the second direction 74 on the first track 1, and at the same time controls the second gantry 4 to move in the first direction 73 on the second track 2, so that the first gantry 3 and the second gantry 4 move towards each other and gradually approach each other.

[0071] Therefore, the first deceleration sensor 512 on the first gantry 3 will approach the second gantry 4 first, and correspondingly, the fourth deceleration sensor 613 on the second gantry 4 will approach the first gantry 3 first.

[0072] Further, see Figure 8 As the first gantry 3 and the second gantry 4 gradually approach each other, when the first magnetic sensor 52 on the first gantry 3 approaches and senses the fourth deceleration sensor 613 on the second gantry 4, the first magnetic sensor 52 transmits a deceleration magnetic induction signal to the control mechanism 8. At the same time, the second magnetic sensor 62 on the second gantry 4 synchronously approaches and senses the first deceleration sensor 512 on the first gantry 3, and transmits a deceleration magnetic induction signal to the control mechanism 8.

[0073] Next, the control mechanism 8 receives deceleration magnetic induction signals from the first magnetic sensor 52 and the second magnetic sensor 62 respectively, and synchronously controls the first gantry 3 and the second gantry 4 to start decelerating and moving towards each other in preparation for alignment.

[0074] Further, see Figure 1 and Figure 2 As the first gantry 3 and the second gantry 4 decelerate and gradually approach each other, when the first magnetic sensor 52 on the first gantry 3 approaches and senses the second rail-aligning sensor 611 on the second gantry 4, the first magnetic sensor 52 transmits a rail-aligning magnetic induction signal to the control mechanism 8. At the same time, the second magnetic sensor 62 on the second gantry 4 synchronously approaches and senses the first rail-aligning sensor 511 on the first gantry 3, and transmits a rail-aligning magnetic induction signal to the control mechanism 8.

[0075] Next, the control mechanism 8 receives the track magnetic induction signals from the first magnetic sensor 52 and the second magnetic sensor 62 respectively, and synchronously controls the first gantry 3 and the second gantry 4 to stop moving so that the first gantry 3 and the second gantry 4 are aligned.

[0076] Therefore, when the first gantry 3 and the second gantry 4 move in different directions and gradually approach each other, the control mechanism 8 can synchronously receive the deceleration magnetic induction signal and the rail alignment magnetic induction signal from the first magnetic sensor 52 and the second magnetic sensor 62, so as to control the first gantry 3 and the second gantry 4 to decelerate synchronously and gradually align, thereby improving the alignment efficiency and ensuring the alignment accuracy.

[0077] The multi-sensor-based gantry crane and method provided by the present invention employs a first magnetic induction mechanism 5 and a second magnetic induction mechanism 6 respectively mounted on the first gantry crane 4 and the second gantry crane 5. Through the cooperation of the first induction plate assembly 51, the first magnetic sensor 52 and the second induction plate assembly 61, the second magnetic sensor 62 and the control mechanism 8, the movement state of the first gantry crane 4 and the second gantry crane 5 is controlled, and the crane gradually decelerates until it stops moving to complete the docking. The alignment efficiency and alignment accuracy are high.

[0078] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A gantry crane based on multi-sensor track alignment, comprising at least two parallel first tracks and second tracks, and a first gantry crane and a second gantry crane respectively mounted and moving on the first tracks and the second tracks, characterized in that, It also includes a control mechanism connected to the first and second gantry cranes, configured to control the movement of the first and second gantry cranes. The first and second gantry cranes are respectively equipped with corresponding first and second magnetic induction mechanisms. The first magnetic induction mechanism includes a first induction plate assembly and a first magnetic sensor arranged in an alternating manner and respectively disposed at a first height and a second height. The second magnetic induction mechanism includes a second induction plate assembly and a second magnetic sensor arranged in an alternating manner and respectively disposed at a second height and a first height. The first magnetic induction mechanism and the second magnetic induction mechanism are configured such that when the first gantry and the second gantry move toward each other, the first magnetic sensor sequentially senses the deceleration sensing plate and the rail alignment sensing plate in the second sensing plate assembly, and transmits the corresponding deceleration magnetic induction signal and rail alignment magnetic induction signal to the control mechanism. At the same time, the second magnetic sensor synchronously senses the deceleration sensing plate and the rail alignment sensing plate in the first sensing plate assembly, and transmits the deceleration magnetic induction signal and rail alignment magnetic induction signal to the control mechanism, so that the control mechanism can control the movement state of the first gantry and the second gantry according to the corresponding magnetic induction signal. The first sensor assembly includes a first track alignment sensor and a first deceleration sensor and a second deceleration sensor disposed on both sides of the first track alignment sensor and spaced apart from the first track alignment sensor. The second sensor assembly includes a second track-aligning sensor and a third and a fourth deceleration sensor disposed on both sides of the second track-aligning sensor and spaced apart from the second track-aligning sensor.

2. The gantry crane based on multi-sensor track alignment according to claim 1, characterized in that, The first magnetic induction mechanism is disposed on the first side adjacent to the first gantry and the second gantry, and the second magnetic induction mechanism is disposed on the second side adjacent to the first gantry.

3. The multi-sensor track-aligned gantry crane according to claim 2, characterized in that, The first sensor assembly and the second sensor assembly are respectively disposed on the first side and the second side in symmetrical positions, but at different heights. The first sensor assembly is disposed at the first height, and the second sensor assembly is disposed at the second height.

4. The gantry crane based on multi-sensor track alignment according to claim 3, characterized in that, The first magnetic sensor and the second magnetic sensor are respectively disposed on the first side and the second side at symmetrical positions, but at different heights. The first magnetic sensor is disposed at the second height, and the second magnetic sensor is disposed at the first height.

5. The multi-sensor track-aligned gantry crane according to claim 1, characterized in that, The distance between the first deceleration sensor and the first alignment sensor is smaller than the distance between the first alignment sensor and the second deceleration sensor, and the first magnetic sensor is disposed between the first alignment sensor and the second deceleration sensor.

6. The gantry crane based on multi-sensor track alignment according to claim 1, characterized in that, The distance between the third deceleration sensor and the second rail alignment sensor is less than the distance between the second rail alignment sensor and the fourth deceleration sensor, and the second magnetic sensor is disposed between the second rail alignment sensor and the fourth deceleration sensor.

7. A method for track alignment based on multiple sensors, characterized in that, The gantry crane employing the multi-sensor-based track alignment method according to any one of claims 1 to 6, wherein the track alignment method comprises: When the first gantry crane is in the first position and the second gantry crane is in the second position, the control mechanism controls the first gantry crane to move in the first direction on the first track, and simultaneously controls the second gantry crane to move in the second direction on the second track, so that the first gantry crane and the second gantry crane move towards each other and gradually approach each other. When the first magnetic sensor on the first gantry crane approaches and senses the third deceleration sensor on the second gantry crane, the first magnetic sensor transmits a deceleration magnetic induction signal to the control mechanism. Simultaneously, the second magnetic sensor on the second gantry crane approaches and senses the second deceleration sensor on the first gantry crane, and transmits a deceleration magnetic induction signal to the control mechanism. The control mechanism receives deceleration magnetic induction signals from the first magnetic sensor and the second magnetic sensor respectively, and synchronously controls the first gantry crane and the second gantry crane to begin deceleration and continuous movement towards each other. When the first magnetic sensor on the first gantry crane approaches and senses the second rail alignment sensor on the second gantry crane, the first magnetic sensor transmits a rail alignment magnetic induction signal to the control mechanism. Simultaneously, the second magnetic sensor on the second gantry crane approaches and senses the first rail alignment sensor on the first gantry crane, and transmits a rail alignment magnetic induction signal to the control mechanism. The control mechanism receives the alignment magnetic induction signals from the first magnetic sensor and the second magnetic sensor respectively, and synchronously controls the first gantry and the second gantry to stop moving so that the first gantry and the second gantry are aligned.

8. The method for track alignment based on multiple sensors according to claim 7, characterized in that, The alignment method further includes: When the first gantry crane is in the third position and the second gantry crane is in the fourth position, the control mechanism controls the first gantry crane to move in the second direction on the first track, while simultaneously controlling the second gantry crane to move in the first direction on the second track, so that the first and second gantry cranes move towards each other and gradually approach each other. When the first magnetic sensor on the first gantry crane approaches and senses the fourth deceleration sensor on the second gantry crane, the first magnetic sensor transmits a deceleration magnetic induction signal to the control mechanism. Simultaneously, the second magnetic sensor on the second gantry crane approaches and senses the first deceleration sensor on the first gantry crane, and transmits a deceleration magnetic induction signal to the control mechanism. The control mechanism receives deceleration magnetic induction signals from the first magnetic sensor and the second magnetic sensor respectively, and synchronously controls the first gantry crane and the second gantry crane to begin deceleration and continuous movement towards each other. When the first magnetic sensor on the first gantry crane approaches and senses the second rail alignment sensor on the second gantry crane, the first magnetic sensor transmits a rail alignment magnetic induction signal to the control mechanism. Simultaneously, the second magnetic sensor on the second gantry crane approaches and senses the first rail alignment sensor on the first gantry crane, and transmits a rail alignment magnetic induction signal to the control mechanism. The control mechanism receives the alignment magnetic induction signals from the first magnetic sensor and the second magnetic sensor respectively, and synchronously controls the first gantry and the second gantry to stop moving so that the first gantry and the second gantry are aligned.

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